A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation prob...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2020-09-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/fnbot.2020.00059/full |
| _version_ | 1818354614092693504 |
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| author | David Navarro-Alarcon Jiaming Qi Jihong Zhu Andrea Cherubini |
| author_facet | David Navarro-Alarcon Jiaming Qi Jihong Zhu Andrea Cherubini |
| author_sort | David Navarro-Alarcon |
| collection | DOAJ |
| description | In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation problem amongst multiple adaptive units that specialize in a local sensorimotor map. Different from traditional estimation algorithms, the proposed method requires little data to train and constrain it (the number of required data points can be analytically determined) and has rigorous stability properties (the conditions to satisfy Lyapunov stability are derived). Numerical simulations and experimental results are presented to validate the proposed method. |
| first_indexed | 2024-12-13T19:28:13Z |
| format | Article |
| id | doaj.art-319e9038d76942f4a370837c08f40f21 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-13T19:28:13Z |
| publishDate | 2020-09-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-319e9038d76942f4a370837c08f40f212022-12-21T23:33:59ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182020-09-011410.3389/fnbot.2020.00059550099A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based ControlDavid Navarro-Alarcon0Jiaming Qi1Jihong Zhu2Andrea Cherubini3The Hong Kong Polytechnic University, Hong Kong, Hong KongThe Hong Kong Polytechnic University, Hong Kong, Hong KongUniversité de Montpellier/LIRMM, Montpellier, FranceUniversité de Montpellier/LIRMM, Montpellier, FranceIn this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a computational method that distributes the model estimation problem amongst multiple adaptive units that specialize in a local sensorimotor map. Different from traditional estimation algorithms, the proposed method requires little data to train and constrain it (the number of required data points can be analytically determined) and has rigorous stability properties (the conditions to satisfy Lyapunov stability are derived). Numerical simulations and experimental results are presented to validate the proposed method.https://www.frontiersin.org/article/10.3389/fnbot.2020.00059/fullroboticssensorimotor modelsadaptive systemssensor-based controlservomechanismsvisual servoing |
| spellingShingle | David Navarro-Alarcon Jiaming Qi Jihong Zhu Andrea Cherubini A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control Frontiers in Neurorobotics robotics sensorimotor models adaptive systems sensor-based control servomechanisms visual servoing |
| title | A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control |
| title_full | A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control |
| title_fullStr | A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control |
| title_full_unstemmed | A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control |
| title_short | A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control |
| title_sort | lyapunov stable adaptive method to approximate sensorimotor models for sensor based control |
| topic | robotics sensorimotor models adaptive systems sensor-based control servomechanisms visual servoing |
| url | https://www.frontiersin.org/article/10.3389/fnbot.2020.00059/full |
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